The invention provides a sliding mode control method and device based on control input saturation and a readable storage medium. The sliding mode control method based on control input saturation comprises the steps that first vehicle parameters of a target vehicle are acquired; acquiring a second vehicle parameter of the vehicle; obtaining relative parameters between the target vehicle and the vehicle through the first vehicle parameters and the second vehicle parameters; establishing a kinematics equation of the vehicle adaptive cruise system through the first vehicle parameter, the second vehicle parameter and the relative parameter; establishing a saturation function through the second vehicle parameter and the kinematics equation; establishing an auxiliary system according to the saturation function, and outputting a first control signal through the auxiliary system; and a sliding mode controller is established according to the kinematics equation and the first control signal, and a second control signal is output through the sliding mode controller, so that the vehicle is subjected to speed control to control the distance between the vehicle and the target vehicle. According to the embodiment of the invention, effective control algorithm design is realized under the control input limiting condition, so that the vehicle runs more stably.

    本发明提供了一种基于控制输入饱和的滑模控制方法、装置和可读存储介质,基于控制输入饱和的滑模控制方法包括:获取目标车辆的第一车辆参数;获取本车的第二车辆参数;通过第一车辆参数和第二车辆参数得到目标车辆和本车之间的相对参数;通过第一车辆参数和第二车辆参数和相对参数建立车辆自适应巡航系统的运动学方程;通过第二车辆参数和运动学方程建立饱和函数;根据饱和函数建立辅助系统,通过辅助系统输出第一控制信号;根据运动学方程和第一控制信号建立滑模控制器,并通过滑模控制器输出第二控制信号,使本车进行速度控制以控制与目标车辆的车距。本发明实施例在控制输入限制条件下实现有效的控制算法设计,使车辆行驶更稳定。


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    Titel :

    Sliding mode control method and device based on control input saturation and readable storage medium


    Weitere Titelangaben:

    基于控制输入饱和的滑模控制方法、装置和可读存储介质


    Beteiligte:
    WANG JIANQIN (Autor:in) / PENG ZHONGZHONG (Autor:in)

    Erscheinungsdatum :

    2023-08-04


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung